DK200800021U3 - Feeding wagon for feeding animals, such as cows - Google Patents

Description

DK 2008 00021 U3

FEED CAR FOR FEEDING ANIMALS SUCH AS CUGS

The invention relates to a feed cart for feeding animals, such as cows, according to the preamble of claim 1, EP 0739161 discloses a feeding device for feeding animals such as cows. The feed device comprises a feed trolley with a feed container, said container being mounted on a self-propelled vehicle capable of finding its own way in the stable and from and to the places where a feed storage is located. In the container, augers are provided for mixing feed into the container and for supplying feed from the container.

EP 4444509 discloses a stationary feeding device for feeding animals such as cows. The feeding device comprises a cylindrical container which is provided on its inner side with a profile part extending in a helical line, for mixing fodder in the container. The cylindrical container is rotatable about its axial axis. There is a auger for discharge of feed from the container.

A disadvantage of the known feed devices is that the auger used to discharge the feed from the container results in an expensive and complicated construction.

The invention has for its object to provide an improved feed carriage.

This object is achieved according to the invention by means of a feed trolley according to claim 1.

The feed cart of claim 1 has a rotatable cylindrical container. The feed trolley is capable of mixing feed.

The container preferably has an operational position for receiving and / or mixing feed and a reading position for reading the feed. The container is moved between the operational position and the unload position by tilting the container around a tilt axis. The unload position is preferably selected such that gravity, when the container is in the unload position, will contribute to unloading of the feed.

The unload position can be selected so that the feed in the unload position will slip from the container under the influence of gravity.

The container of the feeder wagon may also have several unloading positions, for example a first unloading position where the feed is unloaded on the left side of the feed wagon and a second unloading position where the feed is unloaded on the right side of the feed wagon. It is also possible for the feed truck to have several operational positions. It should be noted that each of the terms operational position and reading position may comprise not only a single position but also an operational position area and reading position range respectively.

In an advantageous embodiment, the tilt axis of the connection between the self-propelled vehicle and the container is substantially perpendicular to the axial axis of the container. An advantageous variant thereof is where the rocker axis extends substantially in the main direction of movement of the self-propelled vehicle. The main direction of movement is the direction in which the self-propelled vehicle moves straight forward. In that case, the axial axis of the container extends in a vertical plane which is substantially perpendicular to the rocker axis.

An advantageous embodiment is provided in which the container has an opening for filling and emptying the container at one of the axial ends, the operating position of the container being selected such that the axial axis of the container then extends vertically and the axial end of the container in which the opening is provided. is placed on the upper side. If the container is in the operating position, it is possible for the container to rotate so as to mix the feed therein without the feed falling out of the container and without the need to close the opening. The unload position can then be selected so that the axial axis of the container, in the unload position, will tilt more than 90 degrees relative to the vertical. Advantageously, the container can be tilted in two opposite directions, preferably sideways, more than 90 ° relative to the vertical. As a result, there is no need for additional unloading means, such as a transverse conveyor belt, to deposit feed and the like on one side (or two sides) of the vehicle. Thus, it is also possible for the vehicle to deposit feed outside its own direction of movement which is advantageous in relation to contamination or damage to the feed and to deposit the feed during movement which improves efficiency.

A rotatable and / or adjustable tilt axis will be provided. Thus, there will be more flexibility with respect to the operational position (s) and / or reading positions to be selected.

As an alternative to unloading by tilting the container or as an addition thereto, unloading can also be carried out by means of a auger or conveyor belt.

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Advantageously, the device comprises a sheath on the rotatable container, the sheath being non-rotating but, if desired, tilted relative to the vehicle.

In an advantageous embodiment, a profile part is disposed on the inner wall of the container, which portion of the projection protrudes relative to the inner wall of the container. The profile portion preferably extends in a helical line. Rotating the container provided with a profile part on the inner wall will make it easier to mix the feed into the container. Furthermore, when the feed is mixed into a known container provided with a auger, the feed will be pressed against the wall of the container. This results in considerable wear and tear, both of the inner wall of the container and of the auger used for mixing. Use of a container with a profile part on the inner wall results in less wear.

The profile portion extending in a helical line may also be used to obtain a uniform reading of the feed from the container. In particular, if the container rotates in such a way that the inclination of the profile portion extending a helical line acts opposite to the direction of movement of the self-propelled vehicle, this has in practice proved to give a very uniform reading.

The self-propelled vehicle may be equipped with wheels, whether or not equipped with larvae feet. The wheels may be arranged to run over a floor surface, but also to steer the self-propelled vehicle along a rail if it is suspended in it. In an advantageous embodiment, the feed carriage also comprises a drive unit for driving at least one wheel, the drive unit comprising an electric motor for each wheel to be driven. This electric motor is preferably a servo motor which is directly connected to the wheel to be driven. This results in a simple and robust construction.

The self-driving vehicle can drive unmanned, but can also be self-driving with a driver or supervisor. The self-propelled vehicle can be controlled automatically by means of the controls, ports or sensors. Control using GPS is also possible.

In an advantageous embodiment, the feed carriage comprises at least one weighing device for determining the mass of feed in the container. It is possible that an output signal from the weighing device is given as an input signal to a feed vehicle control device, the control device being arranged to control one or more of the following: tilting of the container, a speed of travel of the vehicle, a direction of rotation of the container and revolutions per minute. per minute (rpm) for the container 4 depending on a change over time for the mass of feed measured by the weighing device. Thus, a reading and / or feed rate of the feed can be regulated because it is possible for the control unit to determine a readout rate based on a measured change in the mass of feed in the container and influence the speed via the tilt, container rotation direction and / or revolutions per minute (rpm). ) or by means of or in combination with the influence of the vehicle's speed of travel. In order to achieve one or more of such impact targets, the control device can control the feed car's engines or other driving means which drive the container and / or the carriage. In addition, an angle measuring instrument, a measuring instrument for measuring revolutions per head may be added. per minute (rpm) and / or a speedometer to measure the container angle, rpm, respectively. minute (rpm) and vehicle speed, and transmit this data to the control device by a suitable signal. In an advantageous embodiment, a first reading angle adjustment can be performed on the basis of an expected parameter, such as a curve or other ratio of reading angle and outflow rate, or on the basis of a self-learning control device based on, for example, data from previous readings.

An advantageous embodiment further comprises the feed carriage a pushing element for pushing feed lying on a surface on which the self-propelled vehicle moves. This pushing element can, while driving the self-propelled vehicle, push the feed located on the floor closer to the feed door and / or distribute the feed across the floor.

In an advantageous embodiment, a detection means is provided for determining the amount of feed on a particular surface outside the container and / or for determining the distribution of the feed over a certain surface outside the container. Such detection means may be a 3D camera or an ultrasonic sensor.

The invention also provides a system for feeding animals such as cows, which system comprises a feed cart as described above and a filling station for filling the container of the feed cart, a storage device for at least one type of feed and a conveyor for transporting at least one type of feed from the storage to filling station.

In an advantageous embodiment, the system further comprises a rail for controlling the self-propelled vehicle. In that case, the self-propelled vehicle is preferably arranged to be suspended in the rail. For example, the filling station may be provided with a hopper to guide the feed to the vehicle.

In an advantageous embodiment, the self-propelled vehicle comprises one or more rechargeable batteries, and the filling site comprises an energy source for supplying energy to the feed car for recharging the rechargeable batteries.

In an advantageous embodiment, the system according to the invention further comprises a mixing device for mixing different types of feed before the feed is brought into the container. It is possible for the feed, after it has been brought into the container, to be further mixed by rotating the container around its axis.

In a possible embodiment, the system according to the invention further comprises a drive mechanism for rotating the container when the feed carriage is located at the filling point. In that case, the feed cart need not include a drive unit for rotating the container.

In practice, in each case, the feed trolley may only be connected to a source of energy for a relatively short period of time (e.g., in each case when filling the trolley at the filling site, if the energy source is located there), this period being shorter than the time allowed. takes to fully or almost completely charge the batteries. As a result, a relatively small amount of energy will be supplied to the batteries, after which energy will be discharged to a load such as electric motors and / or a feed vehicle control device. Accordingly, there may be a problem of degenerating one or more of the batteries because they do not, or at least not sufficiently, recharge using the electric energy source to reach a state where they are fully charged, as may be desired in some battery technologies to avoid or at least reduce degeneration of the batteries. An example of batteries in which such degeneration can occur is a lead battery such as a lead sulfate battery. In such batteries, if used in, for example, partially charged, a deposit is formed on one or more of the battery plates. Due to this deposition, the batteries can degenerate.

For this problem, in one embodiment, the feed carriage comprises at least two rechargeable batteries, a charging connection for making an electrical connection between the feed carriage and an energy source, a charging device for recharging the batteries, a switching device for making an electrical connection between one of the batteries, and a load to be energized by the battery in question, and for conducting an electrical connection from one input of the charging device to another of the batteries, and a control device adapted to control the switching device and / or the charging device to: a) charging the batteries by means of the charging device when the charging connection has been connected to the energy source; b) connection between a first of the batteries and the load to supply the load with electrical energy; c) powering the charging device to charge the second battery, the first battery supplying the charging device with electrical energy; (d) repetition of (b) and (c) after reaching a predetermined criterion where the second battery (b) has been connected to the load to supply the load with the first battery (c) is charged by means of the charging device of the second battery.

When the feed trolley has been connected to the electrical energy source, the batteries are recharged or recharged, whether via the charging device or not, from the electrical energy source. To perform a further charge of a battery, after recharging or recharging from the energy source, one of the batteries may be charged further, via the charging device, from one or more of the other batteries. Therefore, the above step c) can also be described as charging the second battery, by means of the charging device, from the first battery. The battery which can be charged further (referred to above as the second battery) is preferably not used to supply the load with energy during such additional charging, to allow for further charging. One or more of the remaining batteries will supply the load with energy and / or will supply the energy needed to charge the other battery. In the above example with the lead sulfate battery, cleaning, e.g., burner cleaning, of the batteries can be started by further charging the relevant battery, which can at least partially remove any deposits formed. As a result, degeneration of the battery can be positively affected.

The activity b) can take place during charging of the batteries from the external energy source and can be continued after the electrical connection to the external energy source has been disconnected. It is also possible that this occurs only after the electrical connection to the external energy source has been disconnected. Preferably, the second battery will only be charged from the first battery (step c) after the electrical connection between the charging connection and the external energy source has been disconnected, so that the batteries are charged from the external to the greatest possible extent. energy source.

Charging of the second battery may take place until a predetermined criterion is reached, such as a predetermined voltage or other criterion, as set forth below, to indicate a complete or sufficient charge of that second battery. Subsequently, the batteries can be replaced, ie. another of the batteries can be charged from one or more of the remaining batteries. It should also be noted that the term charge may include any desired form of charging, such as continuous charging, incremental charging, etc.

In this way, each of the batteries may be alternately charged to such a level that it will be possible to at least partially avoid a degeneration caused by powering the batteries at an insufficient charge level.

Furthermore, it should be noted that the term first battery and second battery are not to be understood in the way that only two batteries are provided: the principle described herein can be applied to any number with at least two batteries.

The term "control of the switching device and / or the charging device" is to be understood as controlling at least one of the switching device and the charging device.

The batteries may comprise any form of electrical energy storage such as a chemical storage device in, for example, a NiCd, Pb, PbS, NiMH or other rechargeable cell or other cell battery.

The energy source may comprise any energy source, such as a mains connection, an AC adapter, a stationary battery, or an element supplied with solar energy or other energy sources.

The predetermined criterion may include a recharge state of the second battery so that recharging of the second battery can take place until a predetermined recharge state is reached to reduce or counteract the degenerating phenomenon. Measuring means may be provided for measuring the criterion, for example for measuring the charging state of the second battery.

The predetermined criterion may also include one or more of the following: a voltage, a voltage development, an impedance, and an impedance output for the second battery or other criterion that allows the battery charge state to be determined.

The control device may further be arranged to measure a charge state of the second battery before step c) and only proceed to step c) when the second battery has reached a recharge phase. By only charging the second battery from the first battery when the recharge phase is reached, it is possible to limit as much as possible a loss when charging the second battery from the first battery by first charging the second battery from the first battery. the moment the second battery has reached the recharge phase, so that a limited charge of the second battery from the first battery is still needed.

In this document, the term recharge phase is to be understood as a phase of a battery's charging process in which the battery has substantially been recharged, e.g., a predetermined percentage of maximum capacity, to a predetermined charge voltage and the like. For example, the recharge phase can be determined as starting at 90% of the capacity of the battery or as starting at a charging voltage of approx. 30% above a rated voltage for the battery. For example, with a battery of 12 volts, the charging phase can be defined as starting at 16.3 volts of recharge voltage at a predetermined charging current which, for example, constitutes 10% of a maximum charging current. The recharge phase can also be defined as the phase in the recharging process where a regeneration of the battery takes place, which in the aforementioned example with the lead sulfate battery means the phase of the recharging process where the burner cleaning of the battery plates takes place. In the art, the term recharge phase is also referred to as the drop charging phase. However, it should be noted that recharging can take place in any manner and is thus not limited to a stepwise recharge, but may also include a constant current charge, constant voltage, constant capacity, etc.

The charging device may comprise a voltage converter for converting the voltage received via the charge connection, to a charging voltage for the batteries, and for converting the voltage received from the first battery, of which there is at least one, to a charging voltage for the second battery. Of course, it is also possible that the voltage received via the charging connection is fed to the batteries without interference from the charging device when, for example, a voltage supplied via the charging connection has a suitable value.

The switching device may comprise any type of switch for interrupting an electrical connection such as electromechanical switches (e.g., relay or motor controlled switches) or semiconductor switches (such as transistors, transistor arrays, thyristors, or other semiconductor switch elements). It is also possible that one or more of the electrical connections is made by releasing, by means of a release signal, a relevant input or output of, for example, the charging device.

The charging connection may comprise a conductive electrical connection, but another form of energy transfer may also be used, for example an inductive or capacitive transfer, for which purpose the device, such as the feed trolley, may be equipped with a suitable receiver for receiving the energy transmitted from the energy source.

The control device may form part of the aforementioned control of the feed trolley.

Since the principle described herein is particularly advantageous if (as previously mentioned) the charging of the batteries via the charging connection in each case has a short duration in relation to the total charging time for fully charging the batteries, the control device is preferably arranged to change the batteries after charging them. at least twice from the energy source.

The principle of charging the batteries described herein can not only be used as an embodiment of the feed trolley, but can be applied to any device provided by two or more rechargeable batteries. According to one aspect of the invention, there is therefore provided a device for operating the batteries, comprising: at least two rechargeable batteries, a charging connection for making an electrical connection between the feed trolley and an energy source, a charging device for recharging the batteries, a switching device for embodiment an electrical connection between one of the batteries and a load to be energized by that battery, and for conducting an electrical connection from one input of the charging device to another of the batteries, and a control device adapted to control the switching device and / or the charging device for: (a) charging the batteries by means of the charging device when the charging connection has been connected to the energy source; b) connection between a first of the batteries and the load to supply the load with electrical energy; c) powering the charging device to charge the second battery, the first battery supplying the charging device with electrical energy; d) repeating b) and c) after reaching a predetermined criterion where the second battery ib) is connected to the load to supply the load and the first battery c) is charged by means of the charging device from it other battery.

In a further aspect of the invention, there is provided a method for powering at least two rechargeable batteries, comprising: a) recharging the batteries by means of the recharging device when the recharge connection has been connected to the energy source; b) connection between a first of the batteries and the load to supply the load with electrical energy; c) powering the charging device to charge the second battery, the first battery supplying the charging device with electrical energy; (d) repetition of (b) and (c) after a predetermined criterion is reached, where (b) the second battery has been connected to the load to supply the load and (c) the first battery is charged by means of the charging device of the second one. battery.

The invention will be described in more detail below with reference to a drawing which shows a non-limiting example of an embodiment.

In the drawing: FIG. 1 is a general view of a possible embodiment of the system according to the invention; FIG. 2 is a side view of a possible embodiment of the feed trolley according to the invention, FIG. 3 is a top view of the embodiment of the feed truck of FIG. 2, 11 DK 2008 00021 U3 shows fig. 4 is a front view of the embodiment of the feed truck of FIG. 2, with the container in the operating position, FIG. 5 is a front elevational view of the embodiment of the feed truck of FIG. 2, with the container in the unloading position, FIG. 6 is a schematic diagram of a circuit according to one aspect of the invention; FIG. 7 is a flow diagram illustrating the operation of the circuit of FIG.

6, FIG. 8 shows a charging voltage curve and a charging current curve for a battery, and FIG. 9 is a schematic diagram of a further embodiment of a circuit according to one aspect of the invention.

FIG. 1 is an overall representation of a possible embodiment of the system according to the invention.

The system of FIG. 1 comprises a feed cart 1, a filling station 2 for filling the feed cart 1, a storage 3 for storing at least one type of feed and a conveyor 4 for transporting at least one type of feed from the storage 3 to the filling station 2.

The system can be remotely provided with control data via a computer 5 and / or PDA 6.

The system is intended to supply feed to cows 7 which, for example, stands at a feed gate 8. The system ensures that feed 9, which may consist of one or more feed components, is placed at the feed door 8.

In this embodiment, layer 3 comprises several types of fodder, such as, for example, any combination of (ensiled) grass, maize, worm, pulp, pellets, pods, potato fibers, hay. The types of feed and the number of different feed types used depend on the needs of the animals to be fed and the farmer's wishes. Bearing 3 preferably comprises a plurality of silos 15 of different types, if desired.

Conveyor 4 comprises a carriage 10 suspended in the rail 11. The carriage has a gripping device 12 which grabs a portion of the feed from a silo 15. The carriage 10 receives, via a control system, the command to take a certain amount of feed from a particular silo 15 .

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The command to take a certain amount of feed of a certain type from a particular silo 15 can be started from a central control system at a predetermined time or when a particular condition occurs in the stable or at the feed trolley. For example, the feed trolley 1 may observe that there is too little feed at a particular portion of the feed gate 8 and may, on the basis of this observation, via wireless communication, give a command to the trolley 10 to assemble a portion of feed to the group of cows 7 which uses the portion of the feed door 8 where the feed was to be replenished.

After taking a plurality of feed, the gripping device 12 holds the feed while the carriage 10 moves in the rail 11 to the filling location 2. At the filling site 2, the feed carriage is ready.

The gripping device 12 deposits the amount of feed at the filling point 2 in the container 20. The container 20 has for this purpose an opening 21. When the gripper device 12 on the cart 10 has deposited feed in the container 20 of the feed cart 1, the container 20 rotates about its axial axis 22. Consequently, the feed will be detached.

However, the carriage 10 returns the gripping device 12 to the storage 3. The gripping device 12 moves back to the storage of feed in a silo and subsequently takes again a quantity of feed from a predetermined silo 15. The feed taken by the gripper 12 a second time can be of the same type as the feed first taken, or may be of a different type. The trolley 10 again moves to the filling site 2, and the gripping device 12 again loads the feed into the container 20. of the feeding trolley 1. When rotating the container 20 about its axial axis 22, the feed supplied by the gripping device 12 is mixed the second time with the feed supplied. of the gripper device 12 for the first time.

This is repeated until there is the desired amount of feed with the desired composition in the feed cart 1's container 20.

Optionally, at the filling site 2, at the storage 3 or between the storage 3 and the filling site 2, there is a cutter 13 for loosening roughage, such as silage grass. In a possible variant, a cutting device may also be attached to the feed trolley.

Furthermore, when in the feed cart 1's container 20 there is the desired amount of feed with the desired composition, the feed mixture is mixed by rotation of the container. If desired, water is added. When filling and mixing is sufficient, the feed trolley 1 leaves the filling location 2 and moves to the stable.

The feed carriage 1 moves in the stable to the place at the feed door 8 where there is too little feed and unloads the feed from the container 20.

When moving through the barn, the feed carriage detects the amount of feed lying at the feed door 8 and the distribution of the amount of feed over the length of the feed door 8. The detection results are preferably returned to the central control system and / or the carriage 10's control system.

In a variant of the system according to the invention for feeding animals, there is a buffer between the storage 3 and the filling site 2 for temporary storage of the feed and / or the feed mixtures.

Instead of or in addition to filling the container 20 of the feed trolley 1 by means of the trolley 10, the container 20 can also be filled in another way, for example by means of a auger which is fixed at the filling site and which transports feed from an intermediate buffer or from the storage to the filling site and bringing the feed into the container 20.

FIG. 2 shows a side view of a possible embodiment of the feed trolley according to the invention. The feed carriage 1 comprises a container 20. The container has an opening 21 and an axial axis 22. The container 20 is cylindrical and can rotate about its axial axis 22. The opening 21 may be closable, but not necessarily. For example, the container has a content of about Inr5.

The feed trolley further comprises a self-propelled vehicle 50. This vehicle has a main movement direction HR. The main direction of movement HR is the direction in which the vehicle travels straight ahead.

In this embodiment, the self-propelled vehicle 50 has three wheels 51. At the front, there is one wheel 51a. The wheel 51a is a steering wheel and thus can rotate about a vertical axis. Rear wheel 51b is driven wheel. Each of the rear wheels 51b has its own servo motor 52 which drives the wheel. Servomotors 52 are individually controlled. If a difference in rotation speed occurs between the servomotors 52, the self-propelled vehicle 50 will turn. If there is no difference between the rotational speed of the two servomotors 52, the self-propelled vehicle 50 will move straight forward or straight back.

In an alternative embodiment, not shown, the self-propelled vehicle 50 may have four or more wheels optionally provided with larvae feet.

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The feed carriage 1 further comprises a connection 40 between the self-driving vehicle 50 and the container 20. The connection 40 comprises a tilting axis 45 which ensures that it will be possible for the container 20 to tilt with respect to the self-driving vehicle 50. The tilting axis 45 need not be a physical , through shaft but can also be constructed as two supporting pins 41 with shafts aligned one after the other. In that case, the tilt axis 45 is the mathematical axis around which the container tilts.

In the embodiment shown in FIG. 2, the connection 40 further comprises a yoke 42 carrying the container 20 and a ring 43 extending around the circumference of the container 20. The container 20 can rotate about its axial axis 22 relative to the ring. In an alternative embodiment, there is no ring, but the yoke 42 rotates along the container 20 as the container rotates about its axial axis 22.

FIG. 3 is a top view of the embodiment of the feed truck of FIG. 2. In this view from above, the container 20 with the opening 21 and the self-driving vehicle can also be seen.

The wheels 51a, 51b and the servomotors 52 are (partially) indicated by a dotted line because they are located under the frame 53 of the self-propelled vehicle 50.

In the view shown in Figure 3, it is visible that a transverse beam 44 is attached to the yoke 42. This transverse beam 44 is near its ends on an electronic weighing device 46. Near each end of the transverse beam 44 there is provided a weighing device 46. On the side of the beam 42 where there is no transverse beam, the yoke 42 is supported by a third electronic weighing device 46. By means of this arrangement with three weighing devices 46 it is possible to determine both the weight and the center of gravity of the beam. filled container 20.

In an alternative embodiment, not shown, it is possible to use only one weighing device. In that case, it is only possible to determine the weight of the filled container 20, not the center of gravity.

In an advantageous embodiment, the container 20 has an ultrasonic sensor located close to the highest point (when the container is in the operational position). This ultrasonic sensor "peers" into the container 20 and thus determines the feed volume in the container 20.

The frame of the self-propelled vehicle is provided in the corners with proximity sensors 55, for example designed as ultrasonic sensors. When the self-propelled vehicle gets too close to an object, an animal or a human, at least one of the proximity sensors sends a signal to the vehicle's control unit. The signal may then stop the vehicle and / or emit a warning signal, for example in the form of a light signal or / an audible signal. The self-propelled vehicle also preferably has an emergency stop device. The emergency stop device is preferably designed as a bumper, the emergency stop device being actuated as soon as the bumper hits something.

For easy navigation, the self-propelled vehicle 50 is preferably provided with a gyroscope 56. In that case, the gyroscope 56 is used for feedback to a control element (a controi) used to control the self-propelled vehicle 50.

The self-propelled vehicle 50 can find its way by means of the control unit described above by means of the servo motors 52 of the driven wheels 51b, preferably in combination with the gyroscope 56 included in the feedback loop of the control unit. Alternatively, the self-propelled vehicle 50 can find its way by GPS, by means of pods placed in the floor or elsewhere in the stable, by using the detection of the concrete steel grid in the floor of the stable or by means of a camera, preferably made as a 3D camera.

The feed trolley 1 is preferably provided with a pushing element 60 on one or both of its lateral sides. The lower side of this push element 60 is located slightly above the floor. By means of the pushing element 60, fodder lying on the stable floor can be pushed aside. Thus, it is possible to push feed closer to the feed door. In an alternative embodiment, the pushing member 60 may also be located on the front or back of the feed carriage.

In an advantageous embodiment, the push element 60 can be moved to some extent in the vertical and possibly also in the horizontal direction. In that case, the push element 60 is preferably arranged resiliently. In an advantageous embodiment, the push element 60 is provided with an inclined side 61 on the front side (relative to the primary direction of movement) as shown in FIG. 2. These features ensure that the pushing element is not so much bothered by obstacles on the floor.

Instead of a pushing element, a rotatable wheel can also be used.

FIG. 4 is a front view of the embodiment of the embodiment shown in FIG. 2, the container being in the operating position, while FIG. 5 16 DK 2008 00021 U3 shows a front view of the embodiment of FIG. 2, the container being in the unloading position.

FIG. 4 and 5 also show the profile portion 23 extending in a helical line and disposed on the inner side of the container 20. The profile portion 23 protrudes inwardly to the inner wall of the container 20. It may also extend in a manner other than as a helical line, e.g., straight or corrugated profile portions may extend diagonally or in an axial direction relative to container 20. In an advantageous embodiment, the profile portion extends approx. 100 mm in relation to the inner wall. It has been found that this proft part height gives good results in combination with a container with a diameter of approx. 1000 mm.

In the operational position as shown in FIG. 4, the container 20 is upright. The feed to be mixed and distributed is deposited in the container 20 via opening 21 which is in the upper portion of the container 20 when in the operating position.

The container may rotate about its axial axis 22 in the direction of rotation R1. Incidentally, the direction R1 may also be in the opposite direction to that of FIG. 4 indicates the direction of rotation R1. By rotating the container 20 about its axial axis 22, the feed in the container will be loosened and mixed. It has been found that mixing feed by rotation of the container 20 consumes less energy than the use of a auger. Container 20's rpm minute (rpm) is variable.

It is expected that the container 20 for obtaining a proper mixture forms an angle with respect to the vertical. In practice, such an angle will typically be between 25 and 65 degrees relative to the vertical, in such a way that the opening 21 of the container will still be at a higher level than the bottom 24. The choice of angle may - in part - be determined by the center of gravity of the filled container 20.

When the feed truck 1 has moved ten! at the place where the feed is to be unloaded, the container 20 will be brought to its unloading position. The reading position is shown in FIG. 5. In relation to the operational position shown in Figure 4, the container is tilted about the tilt axis 45 (arrow R2). The tilting is preferably carried out by means of an electric motor 47 which is attached to the yoke 42.

The container 20 is tilted in the reading position more than 90 ° relative to the operating position. In this case, the feed will automatically slide from container 20 under the influence of gravity. The feed trolley is preferably provided with a sensor that measures the tilt angle of the container 20. In an advantageous embodiment, it is possible for the container 20 to continue to rotate about its axial axis during unloading. By adjusting the rotation direction R1 of the container 5 to the slope direction of the profile portion 23 extending in a helical line, the reading of the feed can be affected. It has been found that when the profile portion 23 guides the feed from the container 20 in a direction opposite to the direction of movement of the feed truck, a uniform reading of the feed is obtained.

By adjusting the angle the container 20 has formed relative to the vertical, the driving speed of the self-propelled vehicle and the direction of rotation and the rotation speed of the container 20 about its axial axis 22 to each other, the reading process can be properly controlled. In controlling the reading process, the weight and the center of gravity can also be measured, and therefore it can be taken into account in order to ensure still optimization of the reading process. With the help of one in 5 correct alignment, even a global measurement can be obtained.

The operation of the drum is preferably accomplished by means of short-circuit armature motors, which are controlled by frequency control devices. The advantage of using such engines is their robustness. If desired, the wheels may also be driven by short-circuit anchor motors controlled by frequency control devices.

In an advantageous embodiment, the container 20 is stainless steel. Other materials, such as carbon steel or synthetic material, are also possible.

The electric motors on the feed carriage 1 are preferably supplied with power from rechargeable batteries 101 on, at or in the feed carriage 1. At the filling site 2 25 or in the immediate vicinity thereof, a charging point 102 is preferably provided which can be connected to the batteries 101 (see Fig. 1). . In this way, the batteries can be recharged while filling the container 20.

The electrical connection 103 can be made by means of a contact element 103 on the feed carriage, which contact element is connected to the charging point 102 when the feed carriage is located at or at the filling point 2. In that case it is advantageous if the feed carriage 1 returns to the filling place 2. when the feed trolley is not used. During the period when the feed trolley 1 is not active, the batteries can be recharged further.

18 DK 2008 00021 U3

The charging point can also be a rail that is live-carrying.

In an advantageous variant, the feed carriage has a converter that can convert 220V AC voltage to 12V or 24V DC voltage. In that case, the charging point may be directly connected to the mains.

In an advantageous variant, at least one battery is provided on board the feed carriage 1 more than strictly necessary to supply power to the electric motors and other electrical equipment on board the feed carriage. This extra battery can be supplied drop-down from one or more of the other batteries during operation of the feed trolley. When the extra battery has been sufficiently recharged, the electrical system changes so that the extra battery will be used to supply power to the electric motors and other electrical equipment on board, and one of the other batteries will be recharged. In this way, the use of the batteries rotates, and no very long standstill is required for the feed trolley in order to drop-recharge one or more batteries,

FIG. 6 shows 4 batteries designated ACC1 - ACC4 for supplying electrical energy to the load LD which, for example, in the case of the feed trolley, may include a motor and / or a control system for the trolley. Each of the batteries can be charged via a respective charger CH1 -CH4, for which purpose an output in each of the chargers is electrically connected to connections in the relevant battery (whether via an optional circuit breaker not shown) for disconnecting a electrical connection between the relevant charger and battery in the event of no charge. The chargers CH1 -CH4 are connected to a charging connection CC (such as the aforementioned electrical connection 103) to establish contact with an energy source (also referred to as a supply source), e.g., a mains connection or the above-mentioned charging point 102. The chargers may each comprise a first converter for converting a voltage supplied to the charger (e.g., an AC voltage, such as a mains voltage, or a DC voltage) into a charging voltage for the relevant battery. Via circuit breaker S1, which includes a two-circuit breaker in this embodiment, the chargers can be connected either to the charging connection CC or to another converter CONV (e.g., a DC converter to a DC voltage or a DC converter to a DC voltage converter). The second converter is adapted to convert a voltage of one of the batteries ACC1 - ACC4 or of a device 19 to a voltage to supply one or more of the chargers CH1 - CH4. Of course, it is also possible to omit the second converter and supply the voltage applied to the load directly to the chargers CH1 -CH4 via switch S1 in case the voltage applied to the load is within the charger CH1 - CH4's input voltage range.

The switches S2 - S5 are shown, each of which connects one of the batteries to the load LD in a first (shown) position, and each disconnects a relevant battery from the load in a second position. The switch S2 connects the battery ACC1 to the load LD in the first position shown, and the switch S2 disconnects an electrical connection between the battery S2 and the load LD in the second position indicated by a dashed line.

Figure 6 further shows a control device CONT (such as an appropriately programmed microprocessor, programmable logic device, such as a so-called PLD, microcontroller, PC or other suitable control unit implemented with hardware and / or software) controlling the switches S2 - S5 and the chargers CH1 - CH4 with control signal lines shown schematically in FIG. 6, and which may comprise separate wires, a bus structure or any other suitable control unit. The charging device mentioned in this document comprises in the embodiment shown here the chargers CH1 - CH4 and the converter CON. Said switching device in the embodiment shown here comprises switches S1 - S5.

An operation of the switch according to FIG. 6 will be described with reference to FIG. 7. It should be noted that the steps specified in this document may also be performed in any other suitable order. For example, below the steps ST1 and ST2 can be performed simultaneously or in succession in a desired order. Once the charge connection has been connected to the energy source, the batteries ACC1 -ACC4 are charged by the chargers CH1 -CH4, referred to as ST1. It is also possible that one or more of the batteries are simultaneously connected to the load and supply energy to the load, called ST2. When the batteries are being charged, the control device CONT controls the switch S1 to be in the position shown in FIG. 6, i.e. connecting the chargers to the charging connection, and controlling the chargers via respective control signals to supply the batteries with a charging voltage and charging current. It is also possible to switch the switch S1 in another way, for example by means of a control unit placed between the charging contacts, which control causes a switch in the switch S1 state in the presence or absence of the external switch. excitement. In that case, such a control unit (such as, for example, an alternating current voltage relay coil) can be connected to an alternating current voltage side of a rectifier not shown which can serve to convert an alternating current voltage to be provided at the charging contact to a DC voltage supply. CH1 - CH4.

Once the electrical connection via the charging connection to the external power source has been disconnected, one or more of the batteries will supply energy to the load (e.g. the batteries ACC1 - ACC3 by placing the switches S2 -S4 in the position indicated by a solid line, and interrupts S5 at the dotted line position). In this embodiment, the battery ACC4 is kept free of the load to prevent a partial discharge of the latter.

As long as it is determined in ST3 that the recharge phase of battery ST4 has not yet been reached (this can be done, for example, by measuring a voltage, charging current, etc. and comparing it with a predetermined criterion), the charging of the batteries will continue via the charging connection when the external energy source has been connected therewith, and the supply of energy to the load from the first battery, as indicated by the loop LPO, is also continued.

Once it has been determined in ST3 that the recharge phase has been reached, it is continued for further recharging of the second battery from the first battery (ST4), thus enabling regeneration of the second battery. Now, the control device will control the switches S1 to connect an output of the converter CONV with inputs in the chargers CH1 - CH4 so as to provide the chargers with an energy supply (ST4) via the converter CONV. The control device further controls the chargers CH1 - CH4 via the control lines so that the chargers CH1 - CH3 (which have been connected to the batteries which supply energy to the load and the converter) have not been activated to continue charging, while the charger CH4, which has been connected to the battery. ACC4, is activated by means of the control device via the relevant control cord to charge the battery ACC4 (ST4). In this mode, the ACC1 -ACC3 batteries therefore supply energy to the converter CONV and the charger CH4 to further charge the ACC4 battery, as indicated by ST3, ST4. The aspect shown with reference to FIG. 6 and 7 are particularly advantageous if the device is connected to a power source for short periods of time, as these times may not be sufficiently long to charge the battery. It should also be noted that the principle described with reference to fig. 6 and 7 can not only be used for the feed truck described in this document, but in any battery-powered device. For example, the principle described herein may also be used in a vehicle for relocation, for example relocation, of fertilizer in a housing environment, or in a vehicle for removal or collection of fertilizer or other impurities in a housing environment. Of course, many other embodiments are conceivable, as the use is not limited to farming or cattle raising.

Because, as described above, the batteries ACC1 -ACC3, after all the batteries have been charged via the charging connection, will charge the battery ACC4, the battery ACC4 can be charged to such a level, for example, completely where a degeneration of the battery which would find place in case of continuous operation in a only partially charged state, can be avoided or at least reduced. The loop LP1 shown in FIG. 7, can therefore be carried on until the moment it is detected in ST5 that a predetermined criterion, such as a charging state of the battery to be charged further (in this situation ACC4), has been reached. The control device and / or the chargers may for this purpose be provided with suitable measuring means such as, for example, voltage measuring means, charging time measuring means, charging current measuring means, etc. When the criterion is reached, ST6 continues to change, ie. alternate between, the batteries. It should be noted that switching between the batteries does not have to lead to physical switching between the batteries: the term switching or switching must in this context be understood as a switching of the function of the batteries. In the embodiment described herein, ACC1, ACC2 and ACC4, after reaching the criterion, can be used, for example, to supply energy to the load for charging ACC3, etc., so that each of the batteries ACC1 -ACC4 is alternately charged by one or more of the others. batteries. In other words, one or more of the first batteries will supply energy to the load and charge, via the charging device, a second battery (or a plurality of second batteries), after which it is switched.

FIG. 8 shows a charging curve according to one aspect of the invention, wherein a charging voltage and a charging current are arranged along a vertical axis and a charging time, charged capacity or quantity related thereto is arranged along a horizontal axis. When the battery is charged, it is initially charged, for example by means of the chargers CH1 -CH4 in FIG. 6, with a charging current approaching a maximum allowable charging current for the battery, eg 20A. During this charge, designated I in FIG. 7, the voltage across the battery will increase. When the voltage across the battery, during charging, when a predetermined value such as a predetermined percentage, such as 22.5%, exceeds a nominal voltage of the battery, in this embodiment 12 volts, it is continued for a charge at a constant voltage of, in this embodiment, 14.7 volts. During this period, designated II in FIG. 7, the charging current will decrease. When the charge current has dropped to a further predetermined value, in this embodiment 10% of the charge current in I is continued to the recharge in the recharge phase designated Ifl of the battery, where, in this embodiment, recharge, in the recharge phase, takes place at a constant current which is lower than the previously used charging current, i.e. 2A in this embodiment. The recharge is carried out until the charging voltage across the battery has risen to 16.3 volts. The curve as shown here can be traversed at once, but this, as described above, can also be carried out in phases. In particular, charging in I and II from the external energy source will only take place at the moments when there is an electrical connection to the external energy source, so that the charging in I and II with energy from the external energy source can take place at intervals.

FIG. 9 shows a schematic diagram as an example of one of the many possible alternatives to the configuration shown in FIG. 6. FIG. 9 shows two batteries designated ACC1 and ACC2, where the first battery ACC1 or the second battery ACC2, via switch S10, can be connected to the load for supplying energy. The battery connected to the load is also connected to an input into the charging device CH10 via switch S11. In FIG. 9, return or mass connections are otherwise omitted for the sake of clarity. When the device has been connected to an external energy source, the charging device can be supplied from the external energy source via S11 to charge the batteries ACC1 and ACC2 in this way. According to the principle mentioned above, the charger supplied from one of the batteries ACC1 or ACC2 can charge or recharge the other batteries, as illustrated by the flow diagram of FIG. 7. The charging device and the switches are controlled by a control device CONT. The charging device can charge one of the batteries or both batteries, being controlled by the control device.

Claims (23)

23 DK 2008 00021 U3 A feed cart (1) for feeding animals, such as cows (7), the feed cart (1) comprising: a self-propelled vehicle (50), a container (20) for containing feed (9), the container (20) having at least one opening (21) for filling and emptying the container (20) and characterized in that the container (20) is substantially cylindrical and rotatable about its axial axis (22). Feeding wagon (1) according to claim 1, wherein the vehicle (50) further comprises a connection (40) between the self-propelled vehicle (50) and the container (20), and the container (20) having an operational position for receiving and / or mixing the liner (9) and a reading position for unloading the liner, and the connection (40) between the self-propelled vehicle (50) and the container (20) comprises a tilting axis (45) where the cylindrical container (20) can be tilted about the tilt axis ( 45) between the operational position and the unload position relative to the self-propelled vehicle (50) Feed cart (1) according to claim 2, wherein the rocker axis (45) of the connection (40) between the self-propelled vehicle (50) and the container (20) is substantially perpendicular to the axial axis (22) of the container (20). Feed cart (1) according to any one of the preceding claims, wherein the rocker axis (45) is rotatable and / or adjustable. Feeding trolley (1) according to any one of the preceding claims, wherein a profile part (23) is arranged at the inner wall of the container (20), which profile part (23) protrudes relative to the inner wall of the container (20). preferably in a helical line. Feeding wagon (1) according to any one of the preceding claims, wherein the self-propelled vehicle (50) comprises wheels (51a, 51b) and a drive unit for driving at least one wheel (51a, 51b), the drive unit comprising an electric motor (47) for each wheel (51b) to be driven. 24 DK 2008 00021 U3 The feed cart (1) according to any one of the preceding claims, wherein the feed cart (1) comprises at least one weighing device for determining the mass of feed (9) in the container (20). The feed trolley (1) according to claim 7, wherein an output signal from the weighing device is given as an input signal to a control device for the feed trolley (1) and wherein the control device is arranged to control one or more of the following: tilting of the container ( 20), a travel speed of the carriage, a direction of rotation of the container (20) and revolutions per minute. per minute (rpm) for the container (20) depending on a change over time for the mass of feed (9) measured by the weighing device. The feed cart (1) according to any one of the preceding claims, wherein the feed cart (1) further comprises a pushing element (60) for moving feed (9) lying on a surface on which the self-propelled vehicle (50) moves. Feeding wagon (1) according to any one of the preceding claims, wherein the device comprises a detection means for determining the amount of feed (9) on a particular surface outside the container (20) and / or for determining the distribution of feed ( 9) over a particular surface outside the container (20). Feeding wagon (1) according to any one of the preceding claims, comprising: at least two rechargeable batteries (101), a charging connection for making an electrical connection (103) between the feeding wagon (1) and an energy source, a charging device for charging the batteries (101), a switching device for making an electrical connection (103) between one of the batteries (101) and a load to be supplied with energy from the battery (101), and for making an electrical connection ( 103) between an input of the charging device to another of the batteries (101) and a control device adapted to control the switching device and / or the charging device for a) charging the batteries (101) by means of the charging device when the charging connection has been connected to the energy source; b) connecting a first of the batteries (101) to the load to supply the load with electrical energy; C) driving the charging device to charge the second battery (101), the first battery (101) supplying the charging device with electrical energy; (d) repetition of (b) and (c) after reaching a predetermined criterion where the second battery (101) (ib) has been connected to the load for all energy supply and the first battery (101) (ic) is charged using of the charging device from the second battery (101). Feeding wagon (1) according to claim 11, wherein the predetermined criterion comprises a charging state of the second battery (101) and measuring means are provided for measuring the charging state of the second battery (101). The feed trolley (1) of claim 11, wherein the predetermined criterion comprises one or more of the following: a voltage, a voltage development, an impedance and an impedance development for the second battery (101), and measuring means are provided for monitoring it. criterion in question. The feed trolley (1) according to any one of claims 11 - 13, wherein the control device is further adapted to provide a feeding trolley. measuring a charge state of the second battery (101) before step c) and only proceeding to step c) when the second battery (101) has reached a recharge phase. Feeding wagon (1) according to claim 12, wherein the control device is arranged to disconnect the second battery (101) from the load in step b). Feed cart (1) according to any one of claims 11 to 15, wherein the charging device comprises a voltage converter for converting the voltage received via the charge connection, to a charging voltage for the batteries (101) and for converting the voltage received from the first battery (101), of which there is at least one, for a charging voltage ten! the second battery (101). Feeding wagon (1) according to any one of claims 11 to 16, wherein the control device performs d) after performing step a) at least twice. An animal feeding system such as cows (7), comprising: a feed cart (1) according to any one of the preceding claims, a filling station (2) for filling the container (20) of the feed cart (1), a carrier (4) for at least one type of feed (9), a conveyor (4) for transporting at least one type of feed (9) from the storage (3) to the filling station (2). The system of claim 18, wherein the system further comprises a rail (11} for controlling the self-propelled vehicle. The system of claim 19, wherein the self-propelled vehicle (50) is adapted to hang from the rail (11). The system of any one of claims 18-20, wherein the self-propelled vehicle (50) comprises one or more rechargeable batteries (101), wherein the filling site comprises an energy source for supplying energy to the feed trolley (1) for recharging the rechargeable batteries (101). The system of any of claims 18-21, wherein the system further comprises a mixing device for mixing different types of feed (9). The system of any one of claims 18-22, wherein the system further comprises a drive mechanism for rotating the container (20) when the feed carriage (1) is located at the pouring site.